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The collective operation of robots, such as unmanned aerial vehicles (UAVs) operating as a team or swarm, is affected by their individual capabilities, which in turn is dependent on their physical design, aka morphology. However, with the…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
To alleviate computational load on RSUs and cloud platforms, reduce communication bandwidth requirements, and provide a more stable vehicular network service, this paper proposes an optimized pinning control approach for heterogeneous…
Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning…
Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…
The dominant paradigm for high-fidelity 3D generation relies on a VAE-Diffusion pipeline, where the VAE's reconstruction capability sets a firm upper bound on generation quality. A fundamental challenge limiting existing VAEs is the…
Vessel dynamics simulation is vital in studying the relationship between geometry and vascular disease progression. Reliable dynamics simulation relies on high-quality vascular meshes. Most of the existing mesh generation methods highly…
Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…
Multimodal learning combining pathology images and genomic sequences enhances cancer survival analysis but faces clinical implementation barriers due to limited access to genomic sequencing in under-resourced regions. To enable survival…
Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…
When simulating soft robots, both their morphology and their controllers play important roles in task performance. This paper introduces a new method to co-evolve these two components in the same process. We do that by using the hyperNEAT…
Geometric regularity, which leverages data symmetry, has been successfully incorporated into deep learning architectures such as CNNs, RNNs, GNNs, and Transformers. While this concept has been widely applied in robotics to address the curse…
Modern and future high precision pointing space missions face increasingly high challenges related to the widespread use of large flexible structures. The development of new modeling tools which are able to account for the multidisciplinary…
The optimal layout of a complex system such as aerospace vehicles consists in placing a given number of components in a container in order to minimize one or several objectives under some geometrical or functional constraints. This paper…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
The recent advancements in machine learning techniques have steered us towards the data-driven design of products. Motivated by this objective, the present study proposes an automated design methodology that employs data-driven methods to…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
Large Vision Language Models (VLMs) effectively bridge the modality gap through extensive pretraining, acquiring sophisticated visual representations aligned with language. However, it remains underexplored whether these representations,…
In the context of dynamic emission tomography, the conventional processing pipeline consists of independent image reconstruction of single time frames, followed by the application of a suitable kinetic model to time activity curves (TACs)…